Unpowered End Effector for Dispensing Apparatus

ABSTRACT

A mechanical picking system for a x-y picker dispensing apparatus that includes at least one substantially horizontal shelf operable for supporting a product, and a picker assembly which further includes an unpowered end effector. The unpowered end effector includes a plurality of receiving fingers and a holding area. The unpowered end effector is rotatable with respect to the shelf to enable the fingers to transfer the product from the shelf to the holding area.

TECHNICAL FIELD

This invention relates generally to end effectors of a dispensingapparatus and more specifically relates to an unpowered end effector.

BACKGROUND OF THE INVENTION

Dispensing apparatuses such as vending machines are being developed toincorporate x-y picker assemblies for picking products from a x-yproduct grid. The picker assemblies employ motorized end effectors thatactually grab the product form the x-y product grid. The motorized endeffector thus requires wires, wire-harnesses, and other electrical andmechanical components to effectuate the picking of the product.Therefore, the initial cost and the required maintenance of the pickerassembly may be increased.

Thus, there is a need in the art for a low-cost, low maintenance pickerassembly for picking products from x-y product grids

SUMMARY OF THE INVENTION

One embodiment of the application includes a mechanical picking systemfor a x-y picker dispensing apparatus. The mechanical picking systemincludes at least one substantially horizontal shelf operable forsupporting a product, and a picker assembly which further includes anunpowered end effector. The unpowered end effector includes a pluralityof receiving fingers and a holding area. The unpowered end effector isrotatable with respect to the shelf to enable the fingers to transferthe product from the shelf to the holding area.

Another embodiment of the application includes a method of vending aproduct from an x-y dispensing apparatus. The method includespositioning an end effector of a picker assembly under a productpositioned on a substantially horizontal shelf, moving the end effectorupward to lift the product off of the shelf with the end effector,rotating the end effector to hold the product, and dispensing theproduct from the dispensing apparatus.

Yet another embodiment of the application includes a notification systemfor a dispensing apparatus. The notification system includes an eventdevice affixed to a picker assembly wherein the event device is operableto create an event upon successful capture of a product by the pickerassembly, and a detection device for sensing the event.

Yet another embodiment of the application includes a pill door for adispensing apparatus. The pill door includes a dispensing chute fordispensing a product from the dispensing apparatus to a consumer, and arotation device to rotate the product from a substantially horizontalposition to a substantially vertical position.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a dispensing apparatus according to an exemplaryembodiment of the application.

FIG. 2 illustrates shelf fingers according to an exemplary embodiment ofthe application.

FIG. 3 illustrates a x-y product grid according to an exemplaryembodiment of the application.

FIG. 4 illustrates a picker assembly according to an exemplaryembodiment of the application.

FIG. 5 illustrates an exploded view of a picker assembly according to anexemplary embodiment of the application.

FIG. 6 illustrates a holding position of an unpowered end effectoraccording to an exemplary embodiment of the application.

FIG. 7 illustrates an event device attached to a picking assemblyaccording to an exemplary embodiment of the application.

FIG. 8 illustrates a pill door according to an exemplary embodiment ofthe application.

FIG. 9 illustrates a pill dispensing chute according to an exemplaryembodiment of the application.

FIG. 10 illustrates a rotating device of a pill dispensing chuteaccording to an exemplary embodiment of the application.

DETAILED DESCRIPTION

Generally described, the present application relates to a pickerassembly for a dispensing apparatus such as a vending machine thatdispenses products such as cans, bottles, boxes, etc., to a waitingconsumer. The dispensing apparatus may dispense a number of differentproducts out of various rows of shelves through the use of a pickerassembly which is part of a x-y positioning assembly. The pickerassembly may include an unpowered end effector operable for removing theproduct from the shelf. The unpowered end effector does not require amotor, servo, or any other electrically driven means for picking aproduct. Therefore, the unpowered end effector reduces the upfrontdesign, cost, and maintenance required for the existing powered pickingsystems.

In an exemplary embodiment, the unpowered end effector is rotatableabout an axis between a receiving position and a holding position.Through the movement of the picker assembly by the x-y positioningassembly, the unpowered end effector can engage the product in thereceiving position and transfer the product from the shelf to theunpowered end effector in the holding position using the weight of theproduct. Once the picker assembly possesses the product in the holdingposition, the picker assembly can deliver the product to a dispensingarea for retrieval by the consumer or for any other use.

The application now will be described more fully hereinafter withreference to the accompanying drawings, in which exemplary embodimentsof the application is shown. This application may, however, be embodiedin many different forms and should not be construed as limited to theembodiments set forth herein; rather, this embodiment is provided sothat this disclosure will be thorough and will fully convey the scope ofthe application to those skilled in the art. Like numbers refer to likeelements throughout the number of figures.

FIG. 1 is an illustrative view of a dispensing apparatus 12 for use withthe unpowered end effector 28 of the picker assembly 18. The dispensingapparatus 12 may include a number of shelves 14 oriented in a number ofrows. The shelves 14 are configured to support products 16 to bedispensed. The products 16 may be cans, bottles, boxes, or any otherproduct desired to be dispensed.

The shelf 14 may be inclined as known in the art and includes dividersas known in the art to provide a number of inclined “chutes,” whichallow product, especially round product, to slide or roll down to thefront of the shelf under the influence of gravity. Any method or devicefor moving the products along the shelf is contemplated herein.

As illustrated in the exemplary embodiment of FIG. 2, at the front edgeof the shelf 14 is provided a product support. The product support maybe a retention feature in each row to secure the product to the end ofthe shelf 14. In an exemplary embodiment, the product support includes acomblike lip configuration provided by a number of spaced-apart “shelffingers” 15 that may extend generally upwardly from the front edge ofthe shelf 14. Other configurations may be used herein.

The products 16 may be aligned on the shelf 14 in the individual chutes.The products 16 in the chutes may vary. The combination of the rows ofshelves 14 and the chutes within the rows form an x-y product grid 17 onthe dispensing apparatus 12 as shown in the exemplary embodiment of FIG.3.

The dispensing apparatus 12 also includes a x-y positioning assembly fornegotiating the x-y product grid 17. In an exemplary embodiment, the x-ypositioning assembly includes a horizontal device 20 and a verticaldevice 22. The horizontal device 20 may include two substantiallyhorizontal rods 21 extending across a portion of the width of thedispensing apparatus in a substantially parallel orientation. One of therods may be positioned substantially at the top of the dispensingapparatus 12 and the second rod may be positioned substantially at thebottom of the dispensing apparatus. The vertical device 22 may include avertical rod 23 affixed to the horizontal device 20 such that thevertical rod 23 may move horizontally across the horizontal device 20. Amotor assembly (not shown) may be included to move the vertical device22 along the horizontal device 20.

A picker assembly 18 may be affixed to the vertical device 22 operableto move up and down the vertical device. A motor assembly (not shown)may be included to move the picker assembly along the vertical device.

In this exemplary embodiment, the combined motion of the vertical device22 along the horizontal device 20 and the motion of the picker assembly18 along the vertical device 22 allows the picker assembly 18 topositioning the x-y product grid 17. A controller may be used to controlthe x-y positioning assembly and to position the picker assembly 18 at adesired location on the x-y product grid 17.

It should be understood that the x-y positioning assembly describedherein is merely an exemplary embodiment. Any system capable of movingthe picker assembly 18 across the x-y product grid 17 is contemplatedherein, including without limitation a system of any number of verticalor horizontal devices to effect movement or a robotic arm system.

FIG. 4 illustrates an exemplary embodiment of a picker assembly 18. Thepicker assembly 18 includes an unpowered end effector 28. In anexemplary embodiment, the unpowered end effector 28 includes a receivingarea 30 and a holding area 32. The receiving area 30 engages the product16 on the shelf 14 and transfers the product 16 to the holding area 32.

The receiving area 30 may include a number of receiving fingers 31. Inan exemplary embodiment, the receiving fingers 31 may be substantiallylinear in shape and be spaced. The holding area 32 may include a numberof curved holding fingers 33 appropriate for supporting a product 16 inplace. The holding area 32 may not include curved fingers but mayinclude a solid structure capable of supporting a product or any othervariation thereof. The unpowered end effector 28 may be rotatable abouta shaft 39. The shaft 39 may engage a cam follower arm 42 which maypermit the shaft to rotate between the receiving position and theholding position.

FIG. 5 illustrates an exploded view of the picker assembly 18. It shouldbe understood that the picker assembly 18 is not limited to thisembodiment but may be any configuration capable of transferring theproduct 16 from the receiving area 30 to the holding area 32. In theexemplary embodiment of FIG. 5, a cam block 34 engages with a main plate36 to form a cam reception area 35, 37 for a cam follower arm 42. Theportion of the cam follower arm 42 that engages the cam reception area35, 37 may include ball bearings 42. The cam follower arm 42 alsoconnects with a shaft 39 to permit the unpowered end effector 28 torotate between the receiving and the holding positions. The cam followerarm 42 and the shaft 39 may further connect with a spring damper system43 to effect the motion of the cam. The connection may be made through adamper arm 44 or any other suitable mechanism.

The unpowered end effector 28 is ultimately rotated through the camsystem described herein. A receiving slide rod 38 may be positioned withrespect to the cam follower arm 42 to push the cam follower arm 42 androtate the unpowered end effector 28 into the receiving position. Thetop end of the receiving slide rod 38 may contact a surface to force thereceiving slide rod 38 downward in relation to the cam follower arm 42.The downward motion of the receiving slide rod 38 will cause therotation of the cam follower arm 42.

The picker assembly 18 may further include a holding slide rod 40positioned with respect to the cam follower arm 42 to push the camfollower arm 42 and rotate the unpowered end effector 28 into theholding position. The bottom end of the holding slide rod 40 may contacta bottom surface to force the holding slide rod upward in relation tothe cam follower arm 42. The upward motion of the holding slide rod 40will cause the rotation of the cam follower arm 42.

Operation of the Picker Assembly

The following is an example of the operation of the unpowered endeffector 28 in dispensing a product from a shelf. The unpowered endeffector 28 dispenses the product 16 by capturing the product 16 fromthe shelf fingers 15 of the shelf 14. The unpowered end effector 28begins in the receiving position. In the receiving position, theunpowered end effector 28 is rotated such that the fingers 30 are angleddownward from vertical. In an exemplary embodiment, the fingers 30 arerotated approximately fifteen to forty-five degrees off vertical Theangle of rotation, however, may be any angle appropriate for engagingthe product 16 on the shelf fingers 15.

Fingers 30 of the unpowered end effector 28 are positioned between theshelf fingers 15 of the shelf 14. The picker assembly 18 then movesupward causing the fingers 30 to remove the product 16 from the shelffingers 15. The fingers 30 may capture the product by pushing, pulling,scraping, lifting, or performing any other action that forces theproduct 16 from the shelf fingers 15. After removing the product 16 fromthe shelf fingers 15, the product 16 falls through gravity to theholding area 32 of the unpowered end effector 28. The weight of theproduct 16 on the holding area 32 causes the unpowered end effector 28to rotate to the holding position. In an exemplary embodiment, theholding position is a substantially vertical position as shown in theexemplary embodiment of FIG. 6. The picker assembly 18 may then movethrough the x-y positioning system to any desired location to dispenseor deliver the product 16.

In an exemplary embodiment of operation, the picker assembly 18 residesin the lower left corner of the dispensing apparatus 12. The pickingassembly 18 may then move vertically along the x-y positioning assemblyto cause the receiving slide rod 38 to contact a horizontal surface. Theimpact of the receiving slide rod 28 with the horizontal surface forcesrotation of the cam follow arm 42 and thereby rotates the unpowered endeffector 28 into the receiving position. It should be understood thatany method or system to get the unpowered end effector 28 in thereceiving position is contemplated herein.

Likewise, the holding slide rod 40 may contact a bottom surface to resetthe unpowered end effector 28 into the holding position. In thisexemplary embodiment, since the holding position is substantiallyvertical, the unpowered end effector 28 will not impact any of theshelves 14 or the shelf fingers 15 when moving across the x-y productgrid 17. The unpowered end effector 28 may then selectively be placed inthe receiving or holding position as may be desired.

Notification of Picking

To ensure that a product 16 was picked by the picker assembly 18, thedispensing apparatus 12 may utilize a picking notification system todetermine whether a product 16 was successfully picked. The pickingnotification system provides a low cost and low maintenance system tosense the picking of a product 16.

Picking notification may come from any event device 50 that creates anevent detectable by a detection device (not shown) in the dispensingapparatus 12. The event may be a piezo electric spark, a noise, a light,or any other detectable event. In an exemplary embodiment of theunpowered end effector 28, illustrated in FIG. 7 the event device 50 maybe positioned about the shaft 39 in relation to the unpowered endeffector 28. The rotation of the unpowered end effector 28 from thereceiving position to the holding position may cause the shaft 39 torotate thereby causing the piezoelectric spark device to make apiezoelectric spark. A detection device may be located in the dispensingapparatus 12 that can sense the piezo electric spark through heat,light, or any other emissions and therefore notify the dispensingapparatus 12 that a product 16 has been picked. The detection device maybe based on sound, electrical disturbance or light. An example is asound, light or electrical noise detector located inside the vendor thatis programmed to listen for a response from the emitter positioned ontothe picker, at the exact time interval when the product should bedropped into the picker.

In another exemplary embodiment, the dispensing apparatus 12 may benotified of a successful picking of a product 16 through detection ofsound relating to the picking. For the unpowered end effector 28, asignificant noise will be made from the transition of the product 16from the receiving area 30 to the holding area 32. A detection devicemay then detect the noise and alert the dispensing apparatus 12 that asuccessful picking of the product 16 occurred.

Dispensing apparatus 12 also may include a computer system (not shown)integrated with the detection device and the dispensing apparatus tocontrol its operation. As known by those of skill in the art, thecomputer system may include a general purpose computer, a specialpurpose computer, or other programmable data processing apparatusdesigned to control the operation of the dispensing apparatus and storeinformation regarding the operation and use of the dispensing apparatus.The computer system may include a computer-readable memory that candirect the computer or other programmable data processing apparatus toimplement a series of operational steps to be performed on the computeror other programmable apparatus to produce a computer implementedprocess. The computer system also may include a hard drive for storinginformation on the status of the x-y product grid, operating conditions,and use by consumers.

The computer system may be programmed to instruct the dispensingapparatus on how to operate based on the information gathered from thedetection device. If the detection device determines that a product hasbeen successfully picked, the computer system can instruct thedispensing apparatus to dispense the product to the consumer. If thedetection device determines that a product was not successfully picked,then the computer system may instruct the dispensing apparatus toattempt to re-pick the product, pick the product from a differentlocation in the x-y product grid, or refund the consumer's money.

Pill Door Dispensing Chute

The present application further includes a pill door 100 for thedispensing apparatus 12. As known by those of ordinary skill in the art,a pill door 100 is essentially the door of a vending machine. Anembodiment of a pill door is shown in FIG. 8. As shown in an exemplaryembodiment of FIG. 9, the pill door 100 may be configured to operatewith any x-y picking vending machines. The pill door 100 may include adispensing chute 102 for dispensing the product 16 through the pill door100 to a consumer. The dispensing chute 102 may include a rake 104 forremoving the product 16 from an end effector 28 of a picking assembly18. The rake 104 may include rake fingers 106 that extend from a backportion of the pill door 100 towards the x-y product grid 17 of thedispensing apparatus 12. In an exemplary embodiment, the rake fingers106 are spaced to interface the holding area 32 of the unpowered endeffector 28 such that the unpowered end effector 28 may move from abovethe rake 104 to below the rake 104 to allow the rake fingers 106 toremove the product 16. The rake fingers 106 may be declined to permitthe product 16 to move into the dispensing chute 102 of the pill door100.

If the product 16 is positioned in the horizontal orientation, the pilldoor 100 may include a rotation device 108. An exemplary embodiment of arotation device 108 is illustrated in FIG. 10. The rotation device 108of FIG. 10 includes a rotation wall 110 oriented at approximately a 45degree angle. It should be understood that the rotation wall 110 may beat any angle that forces the product 16 to rotate to a substantiallyvertical position. In an exemplary embodiment, the rotation wall 110creates space for a chute that is slightly larger than the product. Theslightly larger opening permits the product 16 to rotate smoothly in thedispensing chute 102. The product 16 moves down the rake 106 and intothe rotation device 108 through the force of gravity. The rotation wall110 then forces the product 16 to rotate into a substantially verticalposition as it moves further down the dispensing chute 102. Thedispensing chute 102 may include an opening 112 on the other surface ofthe pill door 160. The opening 112 allows the consumer to have access toa dispensed product 16. Due to the rotation device 108, the consumer maythen receive a product 16 oriented in a substantially vertical position.

The rotation device 108 has the advantage of smoothly rotating anddispensing the product 16 to the user. Because the pill door 100 is tobe used with an x-y picking vending machine, the picker assembly 18 canprovide the product 16 at any desired location within the dispensingapparatus 12. In an exemplary embodiment, the dispensing chute 102 maybe positioned above the waist of an average consumer. For example, thedispensing chute 102 can be at a height that does not require thecustomer to severely bend over to retrieve the dispensed product fromthe opening. In an exemplary embodiment, the dispensing chute 102 isapproximately four feet from the ground. The height can be set to meetADA requirements or any other height.

The pill door 100 may further include a money return device positionedabove the waist of an average consumer. The height of the money returndevice is positioned to prevent the consumer from having to bend over toretrieve change or a refund of its money.

Many modifications and other embodiments of the application will come tomind to one skilled in the art to which this application pertains havingthe benefit of the teachings presented in the foregoing descriptions andthe associated drawings. Therefore, it is to be understood that theapplication is not to be limited to the specific embodiments disclosedand that modifications and other embodiments are intended to be includedwithin the scope of the appended claims. Although specific terms areemployed herein, they are used in generic and descriptive sense only andnot for purposes of limitation.

1. A mechanical picking system for a x-y picker dispensing apparatus,comprising: at least one substantially horizontal shelf operable forsupporting a product; and a picker assembly comprising an unpowered endeffector; wherein the unpowered end effector comprises a plurality ofreceiving fingers and a holding area wherein the unpowered end effectoris rotatable with respect to the shelf to enable the fingers to transferthe product from the shelf to the holding area.
 2. The system of claim1, wherein the holding device comprises a plurality of curved fingers.3. The system of claim 1, wherein the unpowered end effector isrotatable between a receiving position and a substantially verticalholding position.
 4. The system of claim 3, further comprising areceiving slide rod positioned upward of the picking system operable torotate the unpowered end effector into the receiving position upon animpact with a substantially horizontal surface.
 5. The system of claim4, wherein the unpowered end effector is rotated by the first slide rodusing a cam and a spring.
 6. The system of claim 1, wherein thesubstantially horizontal shelf comprises a product support for holdingthe position of the product.
 7. The system of claim 6, wherein theproduct support comprises a plurality of shelf fingers.
 8. The system ofclaim 7, wherein the plurality of receiving fingers of the unpowered endeffector are positioned to fit between the plurality of shelf fingers ofthe product support such that the unpowered end effector can verticallymove above and below the shelf.
 9. The system of claim 8, wherein theunpowered end effector while in the receiving position can movevertically between the plurality of shelf fingers of the product supportto engage the product; and wherein the unpowered end effector can rotateinto the holding position from the weight of the product transitionedonto the holding area.
 10. The system of claim 1, wherein the dispensingapparatus further comprises a dispensing device operable to receive theproduct delivered by the unpowered end effector.
 11. A method of vendinga product from an x-y dispensing apparatus, comprising: positioning anend effector of a picker assembly under a product positioned on asubstantially horizontal shelf; moving the end effector upward to liftthe product off of the shelf with the end effector; rotating the endeffector to hold the product; and dispensing the product from thedispensing apparatus.
 12. A notification system for a dispensingapparatus, comprising: an event device affixed to a picker assemblywherein the event device is operable to create an event upon successfulcapture of a product by the picker assembly; and a detection device forsensing the event.
 13. The system of claim 12, wherein the event devicecomprises a piezo electric spark device.
 14. The system of claim 13,wherein the event is a piezo electric spark.
 15. The system of claim 12,wherein the detection device comprises a acoustic sensor or opticalsensor to detect the event.
 16. The system of claim 12, furthercomprising a computing device connected to the detection device todetermine whether a successful pick occurs and to determine whether todispense the product, attempt to re-pick the product, or supply arefund.
 17. A pill door for a dispensing apparatus, comprising: adispensing chute for dispensing a product from the dispensing apparatusto a consumer; and a rotation device to rotate the product from asubstantially horizontal position to a substantially vertical position.18. The system of claim 17, further comprising the dispensing chutebeing positioned at least three feet above the ground.
 19. The system ofclaim 17, wherein the rotation device comprise a rotation wall positionat an angle to cause the product to rotate.
 20. The system of claim 17,wherein the dispensing chute comprises a rake to remove the product froman end effector of a picking assembly.